Path Tracking Control Based on Model Predictive Control With Adaptive Preview Characteristics and Speed-Assisted Constraint
As one of the research focuses in the field of intelligent driving, improving the performance of path tracking has become a goal for many scholars. Among many path tracking control algorithms, model predictive control (MPC) controllers are widely used due to their excellent control performance. Howe...
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doaj-0c4944faf1b34e4bb97fc26ebb4bb5852021-03-30T04:38:46ZengIEEEIEEE Access2169-35362020-01-01818469718470910.1109/ACCESS.2020.30296359217522Path Tracking Control Based on Model Predictive Control With Adaptive Preview Characteristics and Speed-Assisted ConstraintChanghua Dai0https://orcid.org/0000-0003-3538-035XChangfu Zong1Guoying Chen2https://orcid.org/0000-0003-0940-1903College of Automotive Engineering, Jilin University, Changchun, ChinaState Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, ChinaState Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, ChinaAs one of the research focuses in the field of intelligent driving, improving the performance of path tracking has become a goal for many scholars. Among many path tracking control algorithms, model predictive control (MPC) controllers are widely used due to their excellent control performance. However, the traditional MPC control has shortcomings because it does not consider the particularity of the driving car with preview driving characteristics, i.e., it is only directly controlling from the vehicle state. To fully retain the advantages of the MPC controller and simultaneously exert the preview characteristic of the intelligent vehicle to improve the path tracking performance, this work proposes a model predictive control with adaptive preview characteristics and an algorithm of longitudinal vehicle speed-assisted constraint for the path tracking algorithm. The algorithm mainly consists of two parts: The MPC controller with adaptive preview characteristic is proposed based on the lateral error and target curvature; The longitudinal vehicle speed-assisted constraint algorithm based on the largest ideal lateral acceleration becomes a supplementary part of the algorithm as a supplementary constraint of the MPC controller. Series of simulations based on the Simulink/CARSIM software individually verified the model predictive control with adaptive preview characteristics and an algorithm of longitudinal vehicle speed-assisted constraint for the path tracking algorithm. The proposed adaptive preview strategy is suitable for the path tracking algorithm controlled by the MPC controller and improves the path tracking performance.https://ieeexplore.ieee.org/document/9217522/Path trackingmodel predictive control (MPC)adaptive preview characteristicsassisted constraint |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Changhua Dai Changfu Zong Guoying Chen |
spellingShingle |
Changhua Dai Changfu Zong Guoying Chen Path Tracking Control Based on Model Predictive Control With Adaptive Preview Characteristics and Speed-Assisted Constraint IEEE Access Path tracking model predictive control (MPC) adaptive preview characteristics assisted constraint |
author_facet |
Changhua Dai Changfu Zong Guoying Chen |
author_sort |
Changhua Dai |
title |
Path Tracking Control Based on Model Predictive Control With Adaptive Preview Characteristics and Speed-Assisted Constraint |
title_short |
Path Tracking Control Based on Model Predictive Control With Adaptive Preview Characteristics and Speed-Assisted Constraint |
title_full |
Path Tracking Control Based on Model Predictive Control With Adaptive Preview Characteristics and Speed-Assisted Constraint |
title_fullStr |
Path Tracking Control Based on Model Predictive Control With Adaptive Preview Characteristics and Speed-Assisted Constraint |
title_full_unstemmed |
Path Tracking Control Based on Model Predictive Control With Adaptive Preview Characteristics and Speed-Assisted Constraint |
title_sort |
path tracking control based on model predictive control with adaptive preview characteristics and speed-assisted constraint |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2020-01-01 |
description |
As one of the research focuses in the field of intelligent driving, improving the performance of path tracking has become a goal for many scholars. Among many path tracking control algorithms, model predictive control (MPC) controllers are widely used due to their excellent control performance. However, the traditional MPC control has shortcomings because it does not consider the particularity of the driving car with preview driving characteristics, i.e., it is only directly controlling from the vehicle state. To fully retain the advantages of the MPC controller and simultaneously exert the preview characteristic of the intelligent vehicle to improve the path tracking performance, this work proposes a model predictive control with adaptive preview characteristics and an algorithm of longitudinal vehicle speed-assisted constraint for the path tracking algorithm. The algorithm mainly consists of two parts: The MPC controller with adaptive preview characteristic is proposed based on the lateral error and target curvature; The longitudinal vehicle speed-assisted constraint algorithm based on the largest ideal lateral acceleration becomes a supplementary part of the algorithm as a supplementary constraint of the MPC controller. Series of simulations based on the Simulink/CARSIM software individually verified the model predictive control with adaptive preview characteristics and an algorithm of longitudinal vehicle speed-assisted constraint for the path tracking algorithm. The proposed adaptive preview strategy is suitable for the path tracking algorithm controlled by the MPC controller and improves the path tracking performance. |
topic |
Path tracking model predictive control (MPC) adaptive preview characteristics assisted constraint |
url |
https://ieeexplore.ieee.org/document/9217522/ |
work_keys_str_mv |
AT changhuadai pathtrackingcontrolbasedonmodelpredictivecontrolwithadaptivepreviewcharacteristicsandspeedassistedconstraint AT changfuzong pathtrackingcontrolbasedonmodelpredictivecontrolwithadaptivepreviewcharacteristicsandspeedassistedconstraint AT guoyingchen pathtrackingcontrolbasedonmodelpredictivecontrolwithadaptivepreviewcharacteristicsandspeedassistedconstraint |
_version_ |
1724181397909798912 |